"That time has passed, and I want to reclaim the daughter that was stolen from me. Do I have any legal recourse in this matter?"

You can try to collect the child, but chances are your chances for custody have sailed in the intervening two year period. Your spouse would likely file to have the child returned. She would likely prevail. That is the burden of acting too slowly and allowing an untenable situation to become the status quo. You are, at this point, fighting an uphill battle.

Your only shot is to collect the child and immediately file for divorce in your state. Even then, you may be playing catch up.